Exploratory Movement Parameters Vary with Stimulus Stiffness. - Lukas Kaim; Knut Drewing (EuroHaptics, 2008)

Finger force of exploratory movements is adapted to the compliance of deformable objects. - Lukas Kaim; Knut Drewing (WHC, 2009)

Exploratory Strategies in Haptic Softness Discrimination Are Tuned to Achieve High Levels of Task Performance. - Lukas Kaim; Knut Drewing (IEEE Trans. Haptics, 2011)